WO2021024967A1 - Four-legged animal wheelchair - Google Patents
Four-legged animal wheelchair Download PDFInfo
- Publication number
- WO2021024967A1 WO2021024967A1 PCT/JP2020/029594 JP2020029594W WO2021024967A1 WO 2021024967 A1 WO2021024967 A1 WO 2021024967A1 JP 2020029594 W JP2020029594 W JP 2020029594W WO 2021024967 A1 WO2021024967 A1 WO 2021024967A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- quadruped
- ring frame
- wheel
- wheelchair
- swing
- Prior art date
Links
- 241001465754 Metazoa Species 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 238000006073 displacement reaction Methods 0.000 claims description 19
- 210000003414 extremity Anatomy 0.000 description 36
- 210000003141 lower extremity Anatomy 0.000 description 12
- 239000000463 material Substances 0.000 description 7
- 210000001364 upper extremity Anatomy 0.000 description 7
- 230000005484 gravity Effects 0.000 description 5
- 210000000078 claw Anatomy 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 4
- 206010033799 Paralysis Diseases 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 210000003194 forelimb Anatomy 0.000 description 3
- 230000007659 motor function Effects 0.000 description 3
- 241000282472 Canis lupus familiaris Species 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 2
- 230000037237 body shape Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 208000034819 Mobility Limitation Diseases 0.000 description 1
- 241001455273 Tetrapoda Species 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002040 relaxant effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
- A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices ; Toys specially adapted for animals
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
- A61D9/00—Bandages, poultices, compresses specially adapted to veterinary purposes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/03—Additional characteristics concerning the patient especially adapted for animals
Definitions
- the present invention relates to a wheelchair for quadrupeds for quadrupeds (quadrupeds) whose forelimbs or hindlimbs have insufficient motor function due to paralysis or excision due to illness or accident, and which makes walking difficult.
- a triangle is formed with the tail or head at the apex and the line connecting the left and right wheels at the base.
- the present invention has been made to solve such a problem, and provides a wheelchair for quadrupeds that can stand up by itself even when the quadruped is in a lying position due to a fall or the like.
- the purpose is to do.
- the wheelchair for quadrupeds is a wheelchair for quadrupeds used for quadrupeds in order to solve the problem that the quadrupeds can stand up by themselves even when they are in a lying position due to a fall or the like.
- a ring frame attached to the body of the quadruped on the disabled limb side, a plurality of wheel support members slidably provided along the outer periphery of the ring frame to rotatably support the wheels, and the above. It has a wheel displacement mechanism that displaces a plurality of the wheels to the positions in the standing state when the quadruped is changed from the standing state to the lying state.
- the wheel displacement mechanism is provided on the wheel support member, and the ring is provided.
- a support shaft having an axis parallel to the axial direction of the frame, a swing axle that rotatably supports the base end portion around the support shaft and rotatably supports the wheel at the tip portion, and the above-mentioned
- a pinion gear fixed to the swing axle, a swing plate that is swingably supported around the support shaft and has a tooth groove that meshes with the pinion gear, and a swing range of the swing axle and the swing plate are determined. It may have a stopper that regulates within the angle range of.
- the wheel displacement mechanism is provided on the wheel support member, and the ring is provided.
- a support shaft having an axis parallel to the axial direction of the frame, and a pair of swing arms that rotatably support the base end portion around the support shaft and rotatably support the wheel at the tip portion.
- a stopper that regulates the swing range of each swing arm within a predetermined angle range, an inner connecting wire that connects the insides of each swing arm, and an outer side that connects the outsides of each swing arm.
- the connecting wire the overturning sensor that detects that the quadruped is in the lying position from the standing state, and the tension of the inner connecting wire when the overturning sensor detects the lying state of the quadruped. It may have a wire driving mechanism that pulls both ends of the outer connecting wire while loosening it.
- the wire driving mechanism is provided at a predetermined interval. It has two fixed pulleys provided so as to be separated from each other, a pair of moving pulleys provided so as to be reciprocating with respect to each of the fixed pulleys, and a drive motor for reciprocating the moving pulleys. Is wound around the first moving pulley and the first fixed pulley of the pair of moving pulleys, and both ends thereof are connected to the inside of the swing arm, and the outer wire is the second. It may be wound around the moving pulley and the second fixed pulley, and both ends thereof may be connected to the outside of the swing arm while being wound around the ring frame.
- the quadruped in order to solve the problem of preventing the quadruped from falling due to the outward swing of the forelimb or the hind limb when the quadruped walks while curving in the left-right direction, the quadruped is in an upright state. At that time, even if each of the wheel support members is locked at a predetermined position of the ring frame and the lock mechanism is provided to release the lock while the wire drive mechanism swings the swing arm. Good.
- a holder or saddle attached to the healthy limb side torso of the quadruped, a connecting frame connecting the holder or saddle and the ring frame, and the quadruped are in a standing position to a lying position. It has a fall sensor that detects that the quadruped has become, and the connecting frame is configured to be elastically deformable around the rotation axis in the left-right direction, the up-down direction, and the front-back direction with respect to the quadruped.
- the tipping sensor detects the recumbent state of the quadruped, it may have an elastic force adjusting mechanism that reduces the elastic force of the connecting frame.
- the wheelchair 1A for quadrupeds of the first embodiment is used for quadrupeds that have difficulty walking due to insufficient motor function of the hind limbs due to paralysis or excision due to illness or accident.
- the dog is illustrated as a quadruped, but the present invention is not limited to this, and the present invention can be applied to all animals that may walk on four legs. .. Further, in the following description, the directions will be indicated using the anteroposterior direction, the lateral direction, and the vertical direction of the quadruped.
- the quadruped wheelchair 1A of the first embodiment is mainly slidable along the ring frame 2 attached to the body on the side of the disabled limb and the outer circumference of the ring frame 2.
- the three wheel support members 3 provided on the quadruped, the wheel displacement mechanism 5 that displaces each wheel 4 to the standing position, the holder 6 that is attached to the front half of the quadruped, and the holder 6 and the ring frame 2. It has a connecting frame 7 and a connecting frame 7 for connecting the above.
- each configuration will be described.
- the ring frame 2 is attached to the torso on the disabled limb side of a quadruped.
- the ring frame 2 is formed in a ring shape, and as shown in FIG. 2, concave grooves 21 are provided along the circumferential direction on the front end surface and the rear end surface thereof. Then, by hooking the claw 31 of the wheel support member 3 described later in the concave groove 21, the wheel support member 3 is rotatably held along the outer circumference of the ring frame 2.
- the ring frame 2 is divided into upper and lower parts, and is configured to be connectable by a connecting metal fitting 22. Therefore, the ring frame 2 can be easily attached to and detached from the quadruped. Further, a cushion material (not shown) for reducing the impact on the body surface of the quadruped is attached to the inner peripheral surface of the ring frame 2.
- a saddle 8 for holding the body of the disabled limb is connected to the lower end of the ring frame 2, and obstacle covers 9 for holding the disabled limb are detachably provided on the left and right sides of the saddle 8. There is.
- the obstacle limb cover 9 is made of a flexible material and has training wheels 91 at the lower end.
- the wheel support member 3 is slidably provided along the outer circumference of the ring frame 2 and rotatably supports the wheel 4.
- the wheel support member 3 has a circumferential length obtained by dividing the circumferential length of the ring frame 2 into three equal parts. Further, claws 31 protruding inward from each other are provided at the peripheral end portions of the wheel support member 3. Then, it is attached to the groove 21 of the divided ring frame 2 by passing the claw 31 of the wheel support member 3 and then connecting the ring frame 2.
- the three wheel support members 3 are provided so as to be in contact with each other to fix the positional relationship of the ring frame 2 in the circumferential direction, but the present invention is not limited to this configuration. It may be changed as appropriate.
- the number of wheel support members 3 may be four or more.
- the positional relationship of the wheel support members 3 may be fixed by connecting them to each other by a link frame or the like.
- the wheel displacement mechanism 5 displaces a plurality of wheels 4 to positions in the standing state when the quadruped is changed from the standing state to the lying position.
- the wheel displacement mechanism 5 is provided on each of the three wheel support members 3, as shown in FIGS. 1 and 2.
- each wheel displacement mechanism 5 is provided with a support shaft 51 provided on the wheel support member 3 and having an axis parallel to the axis direction of the ring frame 2, and a base end portion is swingably supported around the support shaft 51.
- Axle 52 that rotatably supports the wheel 4 at the tip, a pinion gear 53 that is fixed to the oscillating axle 52, and teeth that are rotatably supported around the support shaft 51 and mesh with the pinion gear 53.
- It has a swing plate 54 having a groove, and a stopper 55 that regulates the swing range of the swing axle 52 and the swing plate 54 within a predetermined angle range.
- the stopper 55 is provided so that the swing range of the swing axle 52 and the swing plate 54 is about 60 degrees, but the stopper 55 is not limited to this configuration. That is, in the standing state of the quadruped, it suffices that any two swing axles 52 are always regulated in a straight line along the substantially horizontal direction. Further, the swing plate 54 is formed in a substantially fan shape, but the shape is not limited to this shape.
- the holder 6 is attached to the front body (chest) of a quadruped and is made of a flexible material. Further, in the first embodiment, as shown in FIG. 2, the holder 6 is divided into upper and lower parts, and is configured to be connectable by a hook-and-loop fastener or the like.
- the connecting frame 7 connects the holder 6 and the ring frame 2.
- the front end portion of the connecting frame 7 is connected to the upper end portion of the holder 6, and the rear end portion is connected to the upper end portion of the ring frame 2.
- the connecting frame 7 is configured to be elastically deformable around the rotation axes in the left-right direction, the up-down direction, and the front-back direction with respect to the quadruped.
- the connecting frame 7 includes a front member 71 that swings around the rotation shaft 70a in the left-right direction, an intermediate member 72 that swings around the rotation shaft 70b in the vertical direction, and front and rear.
- Rear members 73 that rotate around a rotation axis 70c in the direction are connected to each other.
- a coil spring 74 is provided to apply an elastic force in a direction of returning to the normal state when swinging or rotating from the normal standing state.
- Each coil spring 74 is configured so that the magnitude of the elastic force can be individually adjusted by a screw or the like.
- a fall sensor (not shown) for detecting that the quadruped has changed from the standing state to the lying position is provided at a position such as the ring frame 2 so as not to interfere with it. Then, when the fall sensor detects the recumbent state of the quadruped, it has an elastic force adjusting mechanism 75 that reduces the elastic force of the connecting frame 7.
- the elastic force adjusting mechanism 75 adjusts the tension of the adjusting wire 76 hooked on the rear member 73 by the forward and reverse rotation of the tension adjusting motor 77. It has become. Then, in the normal standing state, the tension of the adjusting wire 76 is increased to pull the rear member 73 rearward, and the elastic force of the connecting frame 7 is increased by being brought into contact with the fixing member 78. ..
- the fall sensor detects the recumbent state of the quadruped, by weakening the tension of the adjusting wire 76, the rear member 73 is released from the fixing member 78, and the elastic force of the connecting frame 7 is reduced.
- the fall sensor may be appropriately selected from those having a mechanism capable of detecting that the quadruped has changed from the standing state to the lying position, such as a tilt sensor and a gyro sensor.
- the wheels 4a and 4b at the lower left and right positions are provided.
- the swing axle 52 of each wheel 4 abuts on the upper stopper 55, and is regulated in a straight line along a substantially horizontal direction.
- the left and right wheels 4a and 4b are rotatably supported at the normal position and substitute for the disabled limb, so that the healthy limb alone can walk smoothly.
- the swing plate 54 is in contact with the lower stopper 55 due to its own weight. Further, since the upper wheel 4c is in a free state, as shown in FIG. 4A, the upper wheel 4c may be facing directly upward or tilted in a state of being in contact with either the left or right stopper 55. In some cases.
- the elastic force adjusting mechanism 75 reduces the elastic force of the connecting frame 7. Therefore, even if the ring frame 2 is connected to the holder 6 mounted on the healthy limb side, the healthy limb in the lying position is easy to move, so that it is easy to stand up by itself.
- the left and right wheels 4b and 4c may remain inclined with respect to the ground as shown in FIG. 4 (b).
- the wheel displacement mechanism 5 displaces the wheels 4b and 4c to the positions in the upright state.
- each wheel 4b and 4c is dragged and rotated while being tilted.
- the pinion gear 53 fixed to each swing axle 52 rotates with this rotation, as shown in FIG. 4C, the tooth groove of the swing plate 54 in a state of being in contact with the lower pinion gear 53 due to its own weight is formed.
- the swing plate 54 is moved downward while the pinion gear 53 meshes with each other.
- the pinion gear 53 moves upward while meshing with the tooth groove of the swing plate 54.
- each swinging axle 52 gradually swings upward, and the ground contact points of the wheels 4b and 4c gradually move outward.
- the quadruped wheelchair 1A According to the first embodiment of the quadruped wheelchair 1A according to the present invention as described above, the following effects are obtained. 1. 1. Even if a quadruped is in a lying position due to a fall or the like, it can stand up on its own. 3. 3. The wheels 4 can be displaced only by mechanical parts without using sensors, motors, or the like. 3. 3. Even if the holder 6 on the healthy limb side and the ring frame 2 on the disabled limb side are connected, the healthy limb in the lying position can be easily moved and can easily stand up by itself. 4. Shortening the distance between the ring frame 2 and each wheel 4 improves the design and prevents contact accidents, and is suitable for short-legged quadrupeds with a low center of gravity such as dachshunds. is there.
- the feature of the quadruped wheelchair 1B of the second embodiment is that it has a wheel displacement mechanism 5 suitable for a long-legged quadruped with a high center of gravity.
- the quadruped wheelchair 1B of the second embodiment is configured for the hind limbs as in the first embodiment, and is formed along the outer circumference of the ring frame 2.
- Two wheel support members 3 and 3 are slidably provided. Further, between the wheel support members 3, a drive box 10 incorporating a wire drive mechanism described later and a power supply box 11 for supplying power to the drive box 10 can slide along the outer circumference of the ring frame 2, respectively. It is provided in.
- each wheel displacement mechanism 5 is provided on each of the two wheel support members 3.
- each wheel displacement mechanism 5 has a support shaft 51 provided on each wheel support member 3 and having an axis parallel to the axial direction of the ring frame 2, and around the support shaft 51.
- a pair of swing arms 56, 56 that rotatably support the base end portion and rotatably support the wheel 4 at the tip portion, and the swing range of each swing arm 56 is within a predetermined angle range.
- the stopper 55 which connects the insides of the swing arms 56 to each other
- the outer connecting wire 58 which connects the outsides of the swing arms 56 to each other, and the quadrupeds in a lying position from an upright position.
- a tipping sensor (not shown) that detects the state, and when this tipping sensor detects the recumbent state of a quadruped, the tension of the inner connecting wire 57 is relaxed and both ends of the outer connecting wire 58. It has a wire drive mechanism 59 for pulling the wheel.
- the wire drive mechanism 59 is provided in the drive box 10 as shown in FIG. 7, and is fixed to two fixed pulleys 61 and 61 provided at predetermined intervals.
- a traction belt 65 that connects each motor arm 64 and each moving pulley 62.
- the inner connecting wire 57 is wound around the first moving pulley 62 and the first fixed pulley 61 of the pair of moving pulleys 62, 62, and both ends thereof swing. It is connected to the inside of the arm 56.
- the outer connecting wire 58 is wound around the second moving pulley 62 and the second fixed pulley 61, and both ends thereof are wound around the ring frame 2 and connected to the outside of the swing arm 56. ..
- each time the tipping sensor detects the recumbent state of the quadruped one drive motor 63 is in a state where it can idle, the tension of the inner connecting wire 57 is relaxed, and the other drive motor 63 is relaxed.
- the traction belt 65 is wound up by the motor arm 64, and both ends of the outer connecting wire 58 are pulled to displace the swing arm 56.
- the inside and the outside are the inside and the outside with respect to the pair of swing arms 56, 56 in the normal standing state. Further, as will be described later, since the positional relationship between the left and right sides of each swing arm 56 is reversed each time the quadruped is overturned, the relationship between the inside and the outside is also reversed each time.
- the second embodiment is suitable for a long-legged quadruped with a high center of gravity, and when the quadruped walks while curving in the left-right direction, the forelimbs or hindlimbs swing outward. Therefore, it is easy to fall. Therefore, in the second embodiment, when the quadruped is in an upright state, each of the wheel support members 3 is locked at a predetermined position of the ring frame 2, and the wire drive mechanism 59 swings the swing arm 56. While it is, it has a lock mechanism 80 that releases the lock.
- the lock mechanism 80 includes a pair of through holes 81, 81 provided at positions symmetrical with respect to the center of the support shaft 51 in the base portion of the wheel support member 3, respectively.
- a pair of spring-loaded lock pins 82, 82 provided at positions capable of penetrating each through hole 81, and each spring provided at a predetermined position on the outer peripheral surface of the ring frame 2. It has a locking hole 83 into which the attached lock pin 82 can be inserted and removed.
- the spring-loaded lock pin 82 provided on the inner surface of each swing arm 56 is inserted through the through hole 81 of the wheel support member 3, and the locking hole 83 of the ring frame 2 is inserted. Will be inserted into.
- each wheel support member 3 is restricted from sliding with respect to the ring frame 2, and is locked in a normal standing state. For this reason, even when the quadruped is walking while curving in the left-right direction, the forelimbs or hind limbs are less likely to swing outward, so that even when the quadruped with a high center of gravity is worn, the fall is prevented. Further, the spring-loaded lock pin 82 is not excessively pressed against the ring frame 2 by the elastic force of the spring.
- one drive motor 63 is in a state where it can idle, and the other drive motor 63 winds up the traction belt 65 by the motor arm 64. Pulls the moving pulley 62 in a direction away from the second fixed pulley 61. Then, when the second moving pulley 62 reaches the farthest position, the other drive motor 63 stops.
- the elastic force adjusting mechanism 75 applies the elastic force of the connecting frame 7. Reduce. Therefore, even if the ring frame 2 is connected to the holder 6 mounted on the healthy limb side, the healthy limb in the lying position is easy to move, so that it is easy to stand up by itself.
- each swing arm 56 abuts on the stopper 55 as shown in FIG. 9 (f). It is held in the same state. As a result, the wheels 4 of each swing arm 56 return to the position in the normal standing state, and the quadrupeds stand up by themselves and enter the normal standing state.
- each swing arm 56 is inserted into the through hole 81 of the wheel support member 3, and the locking hole of the ring frame 2 is inserted. It is inserted in 83.
- each wheel support member 3 is restricted from sliding with respect to the ring frame 2, and is locked in a normal standing state.
- each drive in the displacement operation of the wheel 4 described above, in the first half steps (FIGS. 9 (b) to 9 (d)) in which a large torque is not required to pull the swing arm 56, each drive is performed.
- the motor 63 winds the traction belt 65 by the motor arm 64, so that the swing arm 56 is swiftly swung and moved.
- each drive motor 63 winds the tow belt 65 by the base end portion of the motor arm 64. By taking it, the swing arm 56 is slowly swung with high torque. In this way, the winding speed and torque of the tow belt 65 are appropriately adjusted according to each stage of the displacement operation of the wheel 4.
- the quadruped wheelchairs 1A and 1B for the hind limbs have been described, but the feature of the quadruped wheelchair 1C of the third embodiment is that of the second embodiment.
- a ring frame 2 is provided at the rear end of the holder 6 attached to the front half of the quadruped. Further, the ring frame 2 and the saddle 8 attached to the latter half of the quadruped are connected by a connecting frame 7.
- the wheelchair for quadrupeds according to the present invention is not limited to each of the above-described embodiments, and can be appropriately changed.
- the ring frame 2 is configured to be separable in order to facilitate the attachment / detachment of the quadruped wheelchair to the quadruped, but the quadruped can be easily attached / detached. It does not have to be divided.
- the inner connecting wire 57 and the outer connecting wire 58 are similarly configured to be separable, but may not be divided.
- the holder 6 and the saddle 8 are attached to the healthy limb side and are connected to the ring frame 2 by using the connecting frame 7, but the configuration is not limited to this. That is, if the ring frame 2 can be firmly attached to the disabled limb side, it is not necessary to provide the holder 6, the saddle 8, and the connecting frame 7.
- the saddle 8 that holds the latter half of the body, which is the body on the side of the disabled limb, is provided, but the saddle 8 is not limited to this configuration, and may be omitted depending on the body shape of the quadruped. Can be done. Specifically, as shown in FIG. 11, the latter half of the quadruped is wrapped with the integrated cover 12 in which the cushion material and the disabled limb cover 9 are integrated, and the ring frame 2 is placed on the outer peripheral surface of the integrated cover 12. May be fixed.
- the holder 6 or the saddle 8 and the ring frame 2 are connected by a rod-shaped connecting frame 7, but the present invention is not limited to this configuration. That is, a spring material such as a leaf spring or a flexible material as shown in FIG. 12 as long as it is configured to be elastically deformable around the rotation axes in the horizontal, vertical, and front-rear directions with respect to the quadruped. It may be connected by the mesh-like net material 13 composed of.
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Wood Science & Technology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Handcart (AREA)
Abstract
[Problem] To provide a four-legged animal wheelchair with which a four-legged animal can stand up by itself even when the animal is lying on the side as a result of a fall or the like. [Solution] A four-legged animal wheelchair 1A to be used by a four-legged animal comprises: a ring frame 2 that is fitted on the body of the four-legged animal near the damaged limb; multiple wheel support members 3, which are provided so as to be capable of sliding along the circumference of the ring frame 2 and which support a wheel 4 so as to be rotatable; and wheel position-changing mechanisms 5 for changing, when the four-legged animal goes from the standing state to a side-lying state, the positions of the multiple wheels 4 to the positions of the standing state.
Description
本発明は、病気や事故による麻痺や切除等によって前肢または後肢の運動機能が不十分となり、歩行が困難となった四足動物(四肢動物)のための四足動物用車椅子に関する。
The present invention relates to a wheelchair for quadrupeds for quadrupeds (quadrupeds) whose forelimbs or hindlimbs have insufficient motor function due to paralysis or excision due to illness or accident, and which makes walking difficult.
病気や事故による麻痺や切除等によって前肢または後肢の一方に障害を有する四足動物は、筋力や体型などの個体差はあるものの、障害肢を引きずりながら、健常肢だけで歩こうとする個体が多い。このため、従来、そのような四足動物のための車椅子が提案されている。例えば、特開2015-70816号公報には、病気や事故等によって、後肢の運動機能が不十分となった四足動物が方向転換をする際の胴体の湾曲を阻害せず、四足動物がより快適に使用することができる四足動物用車椅子が開示されている(特許文献1)。
Tetrapods with disabilities in either the forelimbs or hindlimbs due to paralysis or excision due to illness or accident, although there are individual differences in muscle strength and body shape, individuals who try to walk with only healthy limbs while dragging the disabled limbs There are many. For this reason, wheelchairs for such quadrupeds have been conventionally proposed. For example, Japanese Patent Application Laid-Open No. 2015-70816 states that a quadrupedal animal whose hindlimb motor function is insufficient due to an illness, accident, or the like does not inhibit the curvature of the torso when the quadrupedal animal changes direction. A wheelchair for quadrupeds that can be used more comfortably is disclosed (Patent Document 1).
しかしながら、特許文献1に記載の四足動物用車椅子を含め、従来の四足動物用車椅子においては、転倒等によって四足動物が横臥位状態(横向きに臥せた状態)になった場合、自力で立ち上がることが困難であるという課題がある。
However, in the conventional wheelchair for quadrupeds including the wheelchair for quadrupeds described in Patent Document 1, when the quadruped is in a lying position (a state in which it is laid sideways) due to a fall or the like, it is self-help. There is a problem that it is difficult to stand up.
具体的には、従来の四足動物用車椅子を装着させた四足動物においては、尻尾または頭部を頂点とし左右の車輪を結ぶ線を底辺とした三角形をなす。このため、四足動物用車椅子を装着した四足動物が一旦横臥位状態になってしまうと、障害肢側の腹部または胸部全面が上方を向いたままとなり、起き上がり動作の取っ掛かりとなる健常肢の動きが制限される。その結果、四足動物は自力で立ち上がることができないまま、横臥位状態でもがき続けることとなるため、肘や膝を擦り剥いて負傷してしまうという課題がある。
Specifically, in a quadruped animal equipped with a conventional wheelchair for quadrupeds, a triangle is formed with the tail or head at the apex and the line connecting the left and right wheels at the base. For this reason, once a quadruped with a quadruped wheelchair is in a recumbent position, the abdomen or chest on the side of the disabled limb remains facing upward, and a healthy limb that can be used as a starting point for getting up. Movement is restricted. As a result, the quadrupeds will not be able to stand up on their own and will continue to struggle even in the lying position, which causes a problem that the elbows and knees are scraped off and injured.
本発明は、このような課題を解決するためになされたものであって、四足動物が転倒等によって横臥位状態になった場合でも、自力で立ち上がらせることができる四足動物用車椅子を提供することを目的とする。
The present invention has been made to solve such a problem, and provides a wheelchair for quadrupeds that can stand up by itself even when the quadruped is in a lying position due to a fall or the like. The purpose is to do.
本発明に係る四足動物用車椅子は、四足動物が転倒等によって横臥位状態になった場合でも、自力で立ち上がらせるという課題を解決するために、四足動物に用いられる四足動物用車椅子であって、前記四足動物の障害肢側胴体に装着されるリングフレームと、前記リングフレームの外周に沿ってスライド可能に設けられ、車輪を回転可能に支持する複数の車輪支持部材と、前記四足動物が起立状態から横臥位状態になったとき、複数の前記車輪を前記起立状態における位置に変位させる車輪変位機構と、を有する。
The wheelchair for quadrupeds according to the present invention is a wheelchair for quadrupeds used for quadrupeds in order to solve the problem that the quadrupeds can stand up by themselves even when they are in a lying position due to a fall or the like. A ring frame attached to the body of the quadruped on the disabled limb side, a plurality of wheel support members slidably provided along the outer periphery of the ring frame to rotatably support the wheels, and the above. It has a wheel displacement mechanism that displaces a plurality of the wheels to the positions in the standing state when the quadruped is changed from the standing state to the lying state.
また、本発明の一態様として、センサーやモーター等を用いることなく、機械部品のみで車輪を変位させるという課題を解決するために、前記車輪変位機構は、前記車輪支持部材に設けられ、前記リングフレームの軸線方向と平行な軸線を有する支持軸と、前記支持軸回りに基端部が揺動可能に支持されるとともに、先端部に前記車輪を回動可能に支持する揺動車軸と、前記揺動車軸に固定されるピニオンギヤと、前記支持軸回りに揺動可能に支持され、前記ピニオンギヤと噛み合う歯溝を有する揺動プレートと、前記揺動車軸および前記揺動プレートの揺動範囲を所定の角度範囲内に規制するストッパーと、を有していてもよい。
Further, as one aspect of the present invention, in order to solve the problem that the wheels are displaced only by mechanical parts without using a sensor, a motor, or the like, the wheel displacement mechanism is provided on the wheel support member, and the ring is provided. A support shaft having an axis parallel to the axial direction of the frame, a swing axle that rotatably supports the base end portion around the support shaft and rotatably supports the wheel at the tip portion, and the above-mentioned A pinion gear fixed to the swing axle, a swing plate that is swingably supported around the support shaft and has a tooth groove that meshes with the pinion gear, and a swing range of the swing axle and the swing plate are determined. It may have a stopper that regulates within the angle range of.
さらに、本発明の一態様として、一対の車輪のみで横臥位状態から起立状態への変位を実現するという課題を解決するために、前記車輪変位機構は、前記車輪支持部材に設けられ、前記リングフレームの軸線方向と平行な軸線を有する支持軸と、前記支持軸回りに基端部が揺動可能に支持されるとともに、先端部に前記車輪を回動可能に支持する一対の揺動アームと、前記各揺動アームの揺動範囲を所定の角度範囲内に規制するストッパーと、前記各揺動アームの内側同士を連結する内側連結ワイヤと、前記各揺動アームの外側同士を連結する外側連結ワイヤと、前記四足動物が起立状態から横臥位状態になったことを検知する転倒センサーと、前記転倒センサーが前記四足動物の横臥位状態を検知したとき、前記内側連結ワイヤの張力を緩めるとともに、前記外側連結ワイヤの両端部を引っ張るワイヤ駆動機構と、を有していてもよい。
Further, as one aspect of the present invention, in order to solve the problem of realizing the displacement from the lying position to the standing state with only a pair of wheels, the wheel displacement mechanism is provided on the wheel support member, and the ring is provided. A support shaft having an axis parallel to the axial direction of the frame, and a pair of swing arms that rotatably support the base end portion around the support shaft and rotatably support the wheel at the tip portion. , A stopper that regulates the swing range of each swing arm within a predetermined angle range, an inner connecting wire that connects the insides of each swing arm, and an outer side that connects the outsides of each swing arm. The connecting wire, the overturning sensor that detects that the quadruped is in the lying position from the standing state, and the tension of the inner connecting wire when the overturning sensor detects the lying state of the quadruped. It may have a wire driving mechanism that pulls both ends of the outer connecting wire while loosening it.
また、本発明の一態様として、シンプルな構成でありながら、内側連結ワイヤの張力を緩めるとともに、外側連結ワイヤの両端部を引っ張るという課題を解決するために、前記ワイヤ駆動機構は、所定の間隔を隔てて設けられた二つの固定滑車と、前記固定滑車のそれぞれに対して往復動可能に設けられた一対の移動滑車と、前記移動滑車を往復動させる駆動モーターとを有し、前記内側ワイヤは、前記一対の移動滑車のうち第一の移動滑車と第一の固定滑車とに巻回されるとともに、その両端が前記揺動アームの内側に連結されており、前記外側ワイヤは、第二の移動滑車と第二の固定滑車に巻回されるとともに、その両端が前記リングフレームに巻回されつつ前記揺動アームの外側に連結されていてもよい。
Further, as one aspect of the present invention, in order to solve the problem of relaxing the tension of the inner connecting wire and pulling both ends of the outer connecting wire while having a simple configuration, the wire driving mechanism is provided at a predetermined interval. It has two fixed pulleys provided so as to be separated from each other, a pair of moving pulleys provided so as to be reciprocating with respect to each of the fixed pulleys, and a drive motor for reciprocating the moving pulleys. Is wound around the first moving pulley and the first fixed pulley of the pair of moving pulleys, and both ends thereof are connected to the inside of the swing arm, and the outer wire is the second. It may be wound around the moving pulley and the second fixed pulley, and both ends thereof may be connected to the outside of the swing arm while being wound around the ring frame.
さらに、本発明の一態様として、四足動物が左右方向にカーブしながら歩行する際の前肢または後肢の外振れによる転倒を防止するという課題を解決するために、前記四足動物が起立状態のとき、前記車輪支持部材のそれぞれを前記リングフレームの所定位置にロックするとともに、前記ワイヤ駆動機構が前記揺動アームを揺動させている間、前記ロックを解除するロック機構を有していてもよい。
Further, as one aspect of the present invention, in order to solve the problem of preventing the quadruped from falling due to the outward swing of the forelimb or the hind limb when the quadruped walks while curving in the left-right direction, the quadruped is in an upright state. At that time, even if each of the wheel support members is locked at a predetermined position of the ring frame and the lock mechanism is provided to release the lock while the wire drive mechanism swings the swing arm. Good.
また、本発明の一態様として、健常肢側のホルダまたはサドルと障害肢側のリングフレームとが連結されていても、横臥位状態における健常肢を動き易くして自力で立ち上がり易くするという課題を解決するために、前記四足動物の健常肢側胴体に装着されるホルダまたはサドルと、前記ホルダまたはサドルと前記リングフレームとを連結する連結フレームと、前記四足動物が起立状態から横臥位状態になったことを検知する転倒センサーと、を有しており、前記連結フレームは、前記四足動物に対する左右方向、上下方向および前後方向の回転軸回りに弾性変形可能に構成されており、前記転倒センサーが前記四足動物の横臥位状態を検知したとき、前記連結フレームの弾性力を低減させる弾性力調節機構を有していてもよい。
Further, as one aspect of the present invention, there is a problem that even if the holder or saddle on the healthy limb side and the ring frame on the disabled limb side are connected, the healthy limb in the lying position can be easily moved and can easily stand up by itself. To solve the problem, a holder or saddle attached to the healthy limb side torso of the quadruped, a connecting frame connecting the holder or saddle and the ring frame, and the quadruped are in a standing position to a lying position. It has a fall sensor that detects that the quadruped has become, and the connecting frame is configured to be elastically deformable around the rotation axis in the left-right direction, the up-down direction, and the front-back direction with respect to the quadruped. When the tipping sensor detects the recumbent state of the quadruped, it may have an elastic force adjusting mechanism that reduces the elastic force of the connecting frame.
本発明によれば、四足動物が転倒等によって横臥位状態になった場合でも、自力で立ち上がらせることができる。
According to the present invention, even when a quadruped is in a lying position due to a fall or the like, it can stand up by itself.
以下、本発明に係る四足動物用車椅子の第1実施形態について図面を用いて説明する。
Hereinafter, the first embodiment of the wheelchair for quadrupeds according to the present invention will be described with reference to the drawings.
本第1実施形態の四足動物用車椅子1Aは、病気や事故による麻痺や切除等により後肢の運動機能が不十分となり、歩行が困難となった四足動物に用いられるものである。なお、本第1実施形態では、四足動物として犬を図示しながら説明するが、これに限定されるものではなく、本発明は四足で歩行することのある全ての動物に適用可能である。また、以下の説明では、四足動物の前後方向、左右方向および上下方向を用いて方向を示すこととする。
The wheelchair 1A for quadrupeds of the first embodiment is used for quadrupeds that have difficulty walking due to insufficient motor function of the hind limbs due to paralysis or excision due to illness or accident. In the first embodiment, the dog is illustrated as a quadruped, but the present invention is not limited to this, and the present invention can be applied to all animals that may walk on four legs. .. Further, in the following description, the directions will be indicated using the anteroposterior direction, the lateral direction, and the vertical direction of the quadruped.
本第1実施形態の四足動物用車椅子1Aは、図1および図2に示すように、主として、障害肢側胴体に装着されるリングフレーム2と、このリングフレーム2の外周に沿ってスライド可能に設けられる三つの車輪支持部材3と、各車輪4を起立状態における位置に変位させる車輪変位機構5と、四足動物の前半身に装着されるホルダ6と、このホルダ6とリングフレーム2とを連結する連結フレーム7と、を有している。以下、各構成について説明する。
As shown in FIGS. 1 and 2, the quadruped wheelchair 1A of the first embodiment is mainly slidable along the ring frame 2 attached to the body on the side of the disabled limb and the outer circumference of the ring frame 2. The three wheel support members 3 provided on the quadruped, the wheel displacement mechanism 5 that displaces each wheel 4 to the standing position, the holder 6 that is attached to the front half of the quadruped, and the holder 6 and the ring frame 2. It has a connecting frame 7 and a connecting frame 7 for connecting the above. Hereinafter, each configuration will be described.
リングフレーム2は、四足動物の障害肢側胴体に装着されるものである。例えば図1に示すように、後肢が障害肢の場合には、後肢近くの胴体に装着される。本第1実施形態において、リングフレーム2はリング状に形成されており、図2に示すように、その前端面および後端面には周方向に沿って凹溝21が設けられている。そして、この凹溝21に後述する車輪支持部材3の爪31を引っ掛けることで、リングフレーム2の外周に沿って車輪支持部材3を回転可能に保持するようになっている。
The ring frame 2 is attached to the torso on the disabled limb side of a quadruped. For example, as shown in FIG. 1, when the hind limb is a handicapped limb, it is attached to the torso near the hind limb. In the first embodiment, the ring frame 2 is formed in a ring shape, and as shown in FIG. 2, concave grooves 21 are provided along the circumferential direction on the front end surface and the rear end surface thereof. Then, by hooking the claw 31 of the wheel support member 3 described later in the concave groove 21, the wheel support member 3 is rotatably held along the outer circumference of the ring frame 2.
また、本第1実施形態では、図2に示すように、リングフレーム2は上下に分割されており、連結金具22によって連結可能に構成されている。このため、リングフレーム2は四足動物に対して簡単に着脱しうるようになっている。さらに、リングフレーム2の内周面には、四足動物の体表面への衝撃を軽減するクッション材(図示せず)が取り付けられている。また、リングフレーム2の下端部には、障害肢側胴体を保持するサドル8が連結されており、このサドル8の左右には、障害肢を保持する障害肢カバー9が着脱可能に設けられている。なお、障害肢カバー9は柔軟性のある素材で形成されており、下端部には補助輪91を有している。
Further, in the first embodiment, as shown in FIG. 2, the ring frame 2 is divided into upper and lower parts, and is configured to be connectable by a connecting metal fitting 22. Therefore, the ring frame 2 can be easily attached to and detached from the quadruped. Further, a cushion material (not shown) for reducing the impact on the body surface of the quadruped is attached to the inner peripheral surface of the ring frame 2. A saddle 8 for holding the body of the disabled limb is connected to the lower end of the ring frame 2, and obstacle covers 9 for holding the disabled limb are detachably provided on the left and right sides of the saddle 8. There is. The obstacle limb cover 9 is made of a flexible material and has training wheels 91 at the lower end.
車輪支持部材3は、リングフレーム2の外周に沿ってスライド可能に設けられ、車輪4を回転可能に支持するものである。本第1実施形態において、車輪支持部材3は、図2に示すように、リングフレーム2の円周長さを三等分した周方向長さを有している。また、車輪支持部材3の周方向端部には、互いに内方に向けて突出された爪31が設けられている。そして、分割されたリングフレーム2の凹溝21に、車輪支持部材3の爪31を通してからリングフレーム2を結合することによって取り付けられるようになっている。
The wheel support member 3 is slidably provided along the outer circumference of the ring frame 2 and rotatably supports the wheel 4. In the first embodiment, as shown in FIG. 2, the wheel support member 3 has a circumferential length obtained by dividing the circumferential length of the ring frame 2 into three equal parts. Further, claws 31 protruding inward from each other are provided at the peripheral end portions of the wheel support member 3. Then, it is attached to the groove 21 of the divided ring frame 2 by passing the claw 31 of the wheel support member 3 and then connecting the ring frame 2.
なお、本第1実施形態では、三つの車輪支持部材3を互いに接触するように設けることで、リングフレーム2の周方向における位置関係を固定しているが、この構成に限定されるものではなく適宜変更してもよい。例えば、車輪支持部材3の数は四つ以上あってもよい。また、各車輪支持部材3の位置関係は、リンクフレーム等によって互いに連結することで固定してもよい。
In the first embodiment, the three wheel support members 3 are provided so as to be in contact with each other to fix the positional relationship of the ring frame 2 in the circumferential direction, but the present invention is not limited to this configuration. It may be changed as appropriate. For example, the number of wheel support members 3 may be four or more. Further, the positional relationship of the wheel support members 3 may be fixed by connecting them to each other by a link frame or the like.
車輪変位機構5は、四足動物が起立状態から横臥位状態になったとき、複数の車輪4を起立状態における位置に変位させるものである。本第1実施形態において、車輪変位機構5は、図1および図2に示すように、三つの車輪支持部材3のそれぞれに設けられている。また、各車輪変位機構5は、車輪支持部材3に設けられリングフレーム2の軸線方向と平行な軸線を有する支持軸51と、この支持軸51回りに基端部が揺動可能に支持されるとともに、先端部に車輪4を回動可能に支持する揺動車軸52と、この揺動車軸52に固定されるピニオンギヤ53と、支持軸51回りに揺動可能に支持され、ピニオンギヤ53と噛み合う歯溝を有する揺動プレート54と、揺動車軸52および揺動プレート54の揺動範囲を所定の角度範囲内に規制するストッパー55と、を有している。
The wheel displacement mechanism 5 displaces a plurality of wheels 4 to positions in the standing state when the quadruped is changed from the standing state to the lying position. In the first embodiment, the wheel displacement mechanism 5 is provided on each of the three wheel support members 3, as shown in FIGS. 1 and 2. Further, each wheel displacement mechanism 5 is provided with a support shaft 51 provided on the wheel support member 3 and having an axis parallel to the axis direction of the ring frame 2, and a base end portion is swingably supported around the support shaft 51. Axle 52 that rotatably supports the wheel 4 at the tip, a pinion gear 53 that is fixed to the oscillating axle 52, and teeth that are rotatably supported around the support shaft 51 and mesh with the pinion gear 53. It has a swing plate 54 having a groove, and a stopper 55 that regulates the swing range of the swing axle 52 and the swing plate 54 within a predetermined angle range.
なお、本第1実施形態において、ストッパー55は、揺動車軸52および揺動プレート54の揺動範囲が約60度となるように設けられているが、この構成に限定されるものではない。すなわち、四足動物の起立状態においては、常にいずれか二本の揺動車軸52が略水平方向に沿って一直線の状態で規制されていればよい。また、揺動プレート54は略扇形状に形成されているが、この形状に限定されるものではない。
In the first embodiment, the stopper 55 is provided so that the swing range of the swing axle 52 and the swing plate 54 is about 60 degrees, but the stopper 55 is not limited to this configuration. That is, in the standing state of the quadruped, it suffices that any two swing axles 52 are always regulated in a straight line along the substantially horizontal direction. Further, the swing plate 54 is formed in a substantially fan shape, but the shape is not limited to this shape.
ホルダ6は、四足動物の前半身(胸部)に装着されるものであり、柔軟性のある素材によって形成されている。また、本第1実施形態において、ホルダ6は、図2に示すように、上下に分割されており、面ファスナー等によって連結可能に構成されている。
The holder 6 is attached to the front body (chest) of a quadruped and is made of a flexible material. Further, in the first embodiment, as shown in FIG. 2, the holder 6 is divided into upper and lower parts, and is configured to be connectable by a hook-and-loop fastener or the like.
連結フレーム7は、ホルダ6とリングフレーム2とを連結するものである。本第1実施形態において、連結フレーム7は、図1および図2に示すように、前端部がホルダ6の上端部に連結されているとともに、後端部がリングフレーム2の上端部に連結されている。また、連結フレーム7は、四足動物に対する左右方向、上下方向および前後方向の回転軸回りに弾性変形可能に構成されている。
The connecting frame 7 connects the holder 6 and the ring frame 2. In the first embodiment, as shown in FIGS. 1 and 2, the front end portion of the connecting frame 7 is connected to the upper end portion of the holder 6, and the rear end portion is connected to the upper end portion of the ring frame 2. ing. Further, the connecting frame 7 is configured to be elastically deformable around the rotation axes in the left-right direction, the up-down direction, and the front-back direction with respect to the quadruped.
具体的には、図3に示すように、連結フレーム7は、左右方向の回転軸70a周りに揺動する前方部材71と、上下方向の回転軸70b周りに揺動する中間部材72と、前後方向の回転軸70c回りに回転する後方部材73とが互いに連結されている。そして、通常の起立状態から揺動または回転すると、通常状態へ復帰する方向の弾性力を付与するコイルスプリング74が設けられている。各コイルスプリング74はネジ等によって個別に弾性力の大きさを調節しうるように構成されている。
Specifically, as shown in FIG. 3, the connecting frame 7 includes a front member 71 that swings around the rotation shaft 70a in the left-right direction, an intermediate member 72 that swings around the rotation shaft 70b in the vertical direction, and front and rear. Rear members 73 that rotate around a rotation axis 70c in the direction are connected to each other. A coil spring 74 is provided to apply an elastic force in a direction of returning to the normal state when swinging or rotating from the normal standing state. Each coil spring 74 is configured so that the magnitude of the elastic force can be individually adjusted by a screw or the like.
また、本第1実施形態では、四足動物が起立状態から横臥位状態になったことを検知する転倒センサー(図示せず)が、リングフレーム2等の邪魔にならない位置に設けられている。そして、この転倒センサーが四足動物の横臥位状態を検知したとき、連結フレーム7の弾性力を低減させる弾性力調節機構75を有している。
Further, in the first embodiment, a fall sensor (not shown) for detecting that the quadruped has changed from the standing state to the lying position is provided at a position such as the ring frame 2 so as not to interfere with it. Then, when the fall sensor detects the recumbent state of the quadruped, it has an elastic force adjusting mechanism 75 that reduces the elastic force of the connecting frame 7.
具体的には、弾性力調節機構75は、図3に示すように、後方部材73に引っ掛けられた調節ワイヤ76の張力(テンション)が、張力調節モーター77の正逆回転によって調節されるようになっている。そして、通常の起立状態では、調節ワイヤ76の張力を高めることで、後方部材73を後方に引っ張り、固定部材78と当接されることで連結フレーム7の弾性力が高められるようになっている。
Specifically, as shown in FIG. 3, the elastic force adjusting mechanism 75 adjusts the tension of the adjusting wire 76 hooked on the rear member 73 by the forward and reverse rotation of the tension adjusting motor 77. It has become. Then, in the normal standing state, the tension of the adjusting wire 76 is increased to pull the rear member 73 rearward, and the elastic force of the connecting frame 7 is increased by being brought into contact with the fixing member 78. ..
一方、転倒センサーが四足動物の横臥位状態を検知したとき、調節ワイヤ76の張力を弱めることで、後方部材73が固定部材78から開放され、連結フレーム7の弾性力が低減する。これにより、健常肢側のホルダ6と障害肢側のリングフレーム2とが連結されていても、横臥位状態における健常肢が動き易くなり、自力で立ち上がり易くなっている。なお、転倒センサーは、傾斜センサーやジャイロセンサー等のように、四足動物が起立状態から横臥位状態になったことを検知できる機構のものから適宜選択してよい。
On the other hand, when the fall sensor detects the recumbent state of the quadruped, by weakening the tension of the adjusting wire 76, the rear member 73 is released from the fixing member 78, and the elastic force of the connecting frame 7 is reduced. As a result, even if the holder 6 on the healthy limb side and the ring frame 2 on the disabled limb side are connected, the healthy limb in the lying position is easy to move, and it is easy to stand up by itself. The fall sensor may be appropriately selected from those having a mechanism capable of detecting that the quadruped has changed from the standing state to the lying position, such as a tilt sensor and a gyro sensor.
つぎに、本第1実施形態の四足動物用車椅子1Aによる作用について、図面を用いて説明する。
Next, the operation of the quadruped wheelchair 1A of the first embodiment will be described with reference to the drawings.
まず、四足動物に装着された本第1実施形態の四足動物用車椅子1Aは、通常の起立状態では、図4(a)に示すように、下方の左右位置にある車輪4a,4bが地面に接触することで、各車輪4の揺動車軸52が上方のストッパー55に当接し、略水平方向に沿って一直線の状態で規制される。これにより、左右の車輪4a,4bは通常の位置で回転可能に支持され障害肢の代わりとなるため、健常肢だけでもスムーズに歩行することが可能となる。
First, in the wheelchair 1A for quadrupeds of the first embodiment mounted on a quadruped, in a normal standing state, as shown in FIG. 4A, the wheels 4a and 4b at the lower left and right positions are provided. Upon contact with the ground, the swing axle 52 of each wheel 4 abuts on the upper stopper 55, and is regulated in a straight line along a substantially horizontal direction. As a result, the left and right wheels 4a and 4b are rotatably supported at the normal position and substitute for the disabled limb, so that the healthy limb alone can walk smoothly.
なお、この起立状態において、揺動プレート54は自重によって下方のストッパー55に当接した状態である。また、上方の車輪4cは、フリーな状態であるため、図4(a)に示すように、真上を向いている場合もあれば、左右いずれかのストッパー55に当接した状態で傾斜している場合もある。
In this upright state, the swing plate 54 is in contact with the lower stopper 55 due to its own weight. Further, since the upper wheel 4c is in a free state, as shown in FIG. 4A, the upper wheel 4c may be facing directly upward or tilted in a state of being in contact with either the left or right stopper 55. In some cases.
つぎに、四足動物が転倒等によって横臥位状態になると、図4(b)に示すように、それまで接地していたいずれか一方の車輪4bと、接地していなかった上方の車輪4cとが地面に接触する。また、揺動プレート54は自重によって下方側となったピニオンギヤ53に当接する。この横臥位状態では、四足動物の腹部が一旦上方を向くものの、本第1実施形態では、リングフレーム2と各車輪支持部材3とが相対的に回転可能に構成されている。
Next, when the quadruped is in a recumbent position due to a fall or the like, as shown in FIG. 4 (b), one of the wheels 4b that has been in contact with the ground and the upper wheel 4c that has not been in contact with the ground are formed. Touches the ground. Further, the swing plate 54 comes into contact with the pinion gear 53 which is on the lower side due to its own weight. In this lying position, the abdomen of the quadruped is once turned upward, but in the first embodiment, the ring frame 2 and each wheel support member 3 are configured to be relatively rotatable.
このため、健常肢である前肢を使って起立状態となるように前半身を捻ると、接地している車輪4b,4cによって回転が規制されている各車輪支持部材3に対して、後半身に装着されたリングフレーム2がスムーズに回転する。これにより、前半身の捻り動作に追従して後半身も追従するため、四足動物が自力で立ち上がり正常な起立状態となる。
For this reason, when the front half of the body is twisted so as to stand up using the forelimbs, which are healthy limbs, the latter half of the body is placed against each wheel support member 3 whose rotation is restricted by the wheels 4b and 4c that are in contact with the ground. The mounted ring frame 2 rotates smoothly. As a result, the quadrupeds stand up on their own and become in a normal standing state because the latter half of the body follows the twisting motion of the first half of the body.
また、このとき、本第1実施形態では、転倒センサーによって四足動物の横臥位状態が検知されると、弾性力調節機構75が連結フレーム7の弾性力を低減させる。このため、リングフレーム2が、健常肢側に装着されたホルダ6と連結されていても、横臥位状態における健常肢が動き易くなるため、自力で立ち上がり易くなっている。
At this time, in the first embodiment, when the recumbent state of the quadruped is detected by the fall sensor, the elastic force adjusting mechanism 75 reduces the elastic force of the connecting frame 7. Therefore, even if the ring frame 2 is connected to the holder 6 mounted on the healthy limb side, the healthy limb in the lying position is easy to move, so that it is easy to stand up by itself.
つづいて、上記のとおり、四足動物が起立状態になったとしても、図4(b)に示すように、左右の車輪4b,4cは地面に対して傾斜したままの場合がある。しかしながら、本第1実施形態では、起立状態に戻った四足動物が健常肢を用いて前方へ歩行を始めると、車輪変位機構5が各車輪4b,4cを起立状態における位置に変位させる。
Subsequently, as described above, even if the quadruped is in an upright position, the left and right wheels 4b and 4c may remain inclined with respect to the ground as shown in FIG. 4 (b). However, in the first embodiment, when the quadruped that has returned to the upright state starts walking forward using the healthy limbs, the wheel displacement mechanism 5 displaces the wheels 4b and 4c to the positions in the upright state.
具体的には、四足動物が健常肢を用いて前方へ歩行を始めると、各車輪4b,4cが傾斜したままで引きずられて回転する。この回転に伴って各揺動車軸52に固定されたピニオンギヤ53が回転すると、図4(c)に示すように、自重により下方のピニオンギヤ53に当接した状態の揺動プレート54の歯溝に、ピニオンギヤ53が噛み合いながら揺動プレート54を下方へ移動させる。そして、当該揺動プレート54が下方のストッパー55に当接して固定されると、ピニオンギヤ53が揺動プレート54の歯溝に噛み合いながら上方へ移動する。これにより、各揺動車軸52が徐々に上方へ揺動するとともに、各車輪4b,4cの接地点が徐々に外側へ移動する。
Specifically, when a quadruped animal starts walking forward using a healthy limb, each wheel 4b and 4c is dragged and rotated while being tilted. When the pinion gear 53 fixed to each swing axle 52 rotates with this rotation, as shown in FIG. 4C, the tooth groove of the swing plate 54 in a state of being in contact with the lower pinion gear 53 due to its own weight is formed. , The swing plate 54 is moved downward while the pinion gear 53 meshes with each other. Then, when the swing plate 54 is brought into contact with the lower stopper 55 and fixed, the pinion gear 53 moves upward while meshing with the tooth groove of the swing plate 54. As a result, each swinging axle 52 gradually swings upward, and the ground contact points of the wheels 4b and 4c gradually move outward.
そして、当該接地点が支持軸51より外側に移動したところで、当該支持軸51にかかる四足動物の体重と四足動物用車椅子1Aの重量とが相俟って、各揺動車軸52を上方のストッパー55と当接するまで揺動させる。これにより、各車輪4b,4cの揺動車軸52が略水平方向に沿って一直線の状態となり、通常の起立状態における位置に復帰する。なお、このとき、揺動プレート54は、ピニオンギヤ53と噛み合いながら揺動車軸52と共に上方へ引きずられるが、その噛み合いが外れたところで、自重により地面側へ揺動する。
Then, when the ground contact point moves outward from the support shaft 51, the weight of the quadruped animal on the support shaft 51 and the weight of the quadruped wheelchair 1A are combined to move each swing axle 52 upward. Swing until it comes into contact with the stopper 55 of. As a result, the swing axles 52 of the wheels 4b and 4c are in a straight line along the substantially horizontal direction, and return to the normal standing position. At this time, the swing plate 54 is dragged upward together with the swing axle 52 while meshing with the pinion gear 53, but when the mesh is disengaged, the swing plate 54 swings toward the ground due to its own weight.
以上のような本発明に係る四足動物用車椅子1Aの第1実施形態によれば、以下のような効果を奏する。
1.四足動物が転倒等によって横臥位状態になった場合でも、自力で立ち上がらせることができる。
3.センサーやモーター等を用いることなく、機械部品のみで車輪4を変位させることができる。
3.健常肢側のホルダ6と障害肢側のリングフレーム2とが連結されていても、横臥位状態における健常肢を動き易くして自力で立ち上がり易くすることができる。
4.リングフレーム2と各車輪4との間隔を短くすると、デザイン性が向上するとともに、接触事故等が防止される上、ダックスフント等のように、重心の低い短足体型の四足動物に好適である。 According to the first embodiment of thequadruped wheelchair 1A according to the present invention as described above, the following effects are obtained.
1. 1. Even if a quadruped is in a lying position due to a fall or the like, it can stand up on its own.
3. 3. Thewheels 4 can be displaced only by mechanical parts without using sensors, motors, or the like.
3. 3. Even if theholder 6 on the healthy limb side and the ring frame 2 on the disabled limb side are connected, the healthy limb in the lying position can be easily moved and can easily stand up by itself.
4. Shortening the distance between thering frame 2 and each wheel 4 improves the design and prevents contact accidents, and is suitable for short-legged quadrupeds with a low center of gravity such as dachshunds. is there.
1.四足動物が転倒等によって横臥位状態になった場合でも、自力で立ち上がらせることができる。
3.センサーやモーター等を用いることなく、機械部品のみで車輪4を変位させることができる。
3.健常肢側のホルダ6と障害肢側のリングフレーム2とが連結されていても、横臥位状態における健常肢を動き易くして自力で立ち上がり易くすることができる。
4.リングフレーム2と各車輪4との間隔を短くすると、デザイン性が向上するとともに、接触事故等が防止される上、ダックスフント等のように、重心の低い短足体型の四足動物に好適である。 According to the first embodiment of the
1. 1. Even if a quadruped is in a lying position due to a fall or the like, it can stand up on its own.
3. 3. The
3. 3. Even if the
4. Shortening the distance between the
つぎに、本発明に係る四足動物用車椅子の第2実施形態について説明する。なお、本第2実施形態の構成のうち、上述した第1実施形態と同一もしくは相当する構成については同一の符号を付し、再度の説明を省略する。
Next, a second embodiment of the wheelchair for quadrupeds according to the present invention will be described. Of the configurations of the second embodiment, the same or equivalent configurations as those of the first embodiment described above are designated by the same reference numerals, and the description thereof will be omitted again.
本第2実施形態の四足動物用車椅子1Bの特徴は、重心の高い長足体型の四足動物にも好適な車輪変位機構5を有する点にある。
The feature of the quadruped wheelchair 1B of the second embodiment is that it has a wheel displacement mechanism 5 suitable for a long-legged quadruped with a high center of gravity.
具体的には、図5に示すように、本第2実施形態の四足動物用車椅子1Bは、第1実施形態と同様、後肢用に構成されており、リングフレーム2の外周に沿って、二つの車輪支持部材3,3がスライド可能に設けられている。また、各車輪支持部材3の間には、後述するワイヤ駆動機構を内蔵する駆動ボックス10と、この駆動ボックス10に電源を供給する電源ボックス11とがそれぞれリングフレーム2の外周に沿ってスライド可能に設けられている。
Specifically, as shown in FIG. 5, the quadruped wheelchair 1B of the second embodiment is configured for the hind limbs as in the first embodiment, and is formed along the outer circumference of the ring frame 2. Two wheel support members 3 and 3 are slidably provided. Further, between the wheel support members 3, a drive box 10 incorporating a wire drive mechanism described later and a power supply box 11 for supplying power to the drive box 10 can slide along the outer circumference of the ring frame 2, respectively. It is provided in.
本第2実施形態において、車輪変位機構5は、二つの車輪支持部材3のそれぞれに設けられている。具体的には、各車輪変位機構5は、図6に示すように、各車輪支持部材3に設けられリングフレーム2の軸線方向と平行な軸線を有する支持軸51と、この支持軸51回りに基端部が揺動可能に支持されるとともに、先端部に車輪4を回動可能に支持する一対の揺動アーム56,56と、各揺動アーム56の揺動範囲を所定の角度範囲内に規制するストッパー55と、各揺動アーム56の内側同士を連結する内側連結ワイヤ57と、各揺動アーム56の外側同士を連結する外側連結ワイヤ58と、四足動物が起立状態から横臥位状態になったことを検知する転倒センサー(図示せず)と、この転倒センサーが四足動物の横臥位状態を検知したとき、内側連結ワイヤ57の張力を緩めるとともに、外側連結ワイヤ58の両端部を引っ張るワイヤ駆動機構59と、を有している。
In the second embodiment, the wheel displacement mechanism 5 is provided on each of the two wheel support members 3. Specifically, as shown in FIG. 6, each wheel displacement mechanism 5 has a support shaft 51 provided on each wheel support member 3 and having an axis parallel to the axial direction of the ring frame 2, and around the support shaft 51. A pair of swing arms 56, 56 that rotatably support the base end portion and rotatably support the wheel 4 at the tip portion, and the swing range of each swing arm 56 is within a predetermined angle range. The stopper 55, which connects the insides of the swing arms 56 to each other, the outer connecting wire 58, which connects the outsides of the swing arms 56 to each other, and the quadrupeds in a lying position from an upright position. A tipping sensor (not shown) that detects the state, and when this tipping sensor detects the recumbent state of a quadruped, the tension of the inner connecting wire 57 is relaxed and both ends of the outer connecting wire 58. It has a wire drive mechanism 59 for pulling the wheel.
本第2実施形態において、ワイヤ駆動機構59は、図7に示すように、駆動ボックス10内に設けられており、所定の間隔を隔てて設けられた二つの固定滑車61,61と、この固定滑車61のそれぞれに対して往復動可能に設けられた一対の移動滑車62,62と、各移動滑車62を往復動させる駆動モーター63と、各駆動モーター63の駆動軸に固定されたモーターアーム64と、各モーターアーム64と各移動滑車62とを連結する牽引ベルト65とを有している。
In the second embodiment, the wire drive mechanism 59 is provided in the drive box 10 as shown in FIG. 7, and is fixed to two fixed pulleys 61 and 61 provided at predetermined intervals. A pair of moving pulleys 62 and 62 reciprocating with respect to each of the pulleys 61, a drive motor 63 for reciprocating each moving pulley 62, and a motor arm 64 fixed to the drive shaft of each drive motor 63. And a traction belt 65 that connects each motor arm 64 and each moving pulley 62.
また、図6に示すように、内側連結ワイヤ57は、一対の移動滑車62,62のうち第一の移動滑車62と第一の固定滑車61とに巻回されるとともに、その両端が揺動アーム56の内側に連結されている。一方、外側連結ワイヤ58は、第二の移動滑車62と第二の固定滑車61に巻回されるとともに、その両端がリングフレーム2に巻回されつつ揺動アーム56の外側に連結されている。
Further, as shown in FIG. 6, the inner connecting wire 57 is wound around the first moving pulley 62 and the first fixed pulley 61 of the pair of moving pulleys 62, 62, and both ends thereof swing. It is connected to the inside of the arm 56. On the other hand, the outer connecting wire 58 is wound around the second moving pulley 62 and the second fixed pulley 61, and both ends thereof are wound around the ring frame 2 and connected to the outside of the swing arm 56. ..
以上の構成において、転倒センサーが四足動物の横臥位状態を検知するたびに、一方の駆動モーター63が空転可能な状態となって内側連結ワイヤ57の張力が緩められるとともに、他方の駆動モーター63がモーターアーム64によって牽引ベルト65を巻き取り、外側連結ワイヤ58の両端部を引っ張ることで、揺動アーム56を変位させるようになっている。
In the above configuration, each time the tipping sensor detects the recumbent state of the quadruped, one drive motor 63 is in a state where it can idle, the tension of the inner connecting wire 57 is relaxed, and the other drive motor 63 is relaxed. The traction belt 65 is wound up by the motor arm 64, and both ends of the outer connecting wire 58 are pulled to displace the swing arm 56.
なお、本第2実施形態において、内側および外側とは、通常の起立状態における一対の揺動アーム56,56に対しての内側および外側である。また、後述するとおり、各揺動アーム56は、四足動物が転倒するたびに左右の位置関係が逆になるため、その都度、内側と外側の関係も逆になるようになっている。
In the second embodiment, the inside and the outside are the inside and the outside with respect to the pair of swing arms 56, 56 in the normal standing state. Further, as will be described later, since the positional relationship between the left and right sides of each swing arm 56 is reversed each time the quadruped is overturned, the relationship between the inside and the outside is also reversed each time.
また、本第2実施形態は、重心の高い長足体型の四足動物に好適なものであるところ、当該四足動物が左右方向にカーブしながら歩行する際は、前肢または後肢が外方向に振れるため転倒しやすい。そこで、本第2実施形態では、四足動物が起立状態のとき、車輪支持部材3のそれぞれをリングフレーム2の所定位置にロックするとともに、ワイヤ駆動機構59が揺動アーム56を揺動させている間、ロックを解除するロック機構80を有している。
Further, the second embodiment is suitable for a long-legged quadruped with a high center of gravity, and when the quadruped walks while curving in the left-right direction, the forelimbs or hindlimbs swing outward. Therefore, it is easy to fall. Therefore, in the second embodiment, when the quadruped is in an upright state, each of the wheel support members 3 is locked at a predetermined position of the ring frame 2, and the wire drive mechanism 59 swings the swing arm 56. While it is, it has a lock mechanism 80 that releases the lock.
具体的には、ロック機構80は、図8に示すように、車輪支持部材3のベース部分において、支持軸51の中心に関して点対称となる位置に設けられる一対の貫通孔81,81と、各揺動アーム56の内側面及び外側面において、各貫通孔81を貫通しうる位置に設けられる一対のバネ付きロックピン82,82と、リングフレーム2の外周面における所定位置に設けられ、各バネ付きロックピン82を挿脱可能な係止穴83と、を有している。
Specifically, as shown in FIG. 8, the lock mechanism 80 includes a pair of through holes 81, 81 provided at positions symmetrical with respect to the center of the support shaft 51 in the base portion of the wheel support member 3, respectively. On the inner and outer surfaces of the swing arm 56, a pair of spring-loaded lock pins 82, 82 provided at positions capable of penetrating each through hole 81, and each spring provided at a predetermined position on the outer peripheral surface of the ring frame 2. It has a locking hole 83 into which the attached lock pin 82 can be inserted and removed.
つぎに、本第2実施形態の四足動物用車椅子1Bによる作用について、図面を用いて説明する。なお、図9では、内側連結ワイヤ57および外側連結ワイヤ58の図示を省略している。
Next, the operation of the quadruped wheelchair 1B of the second embodiment will be described with reference to the drawings. In FIG. 9, the inner connecting wire 57 and the outer connecting wire 58 are not shown.
まず、四足動物に装着された本第2実施形態の四足動物用車椅子1Bは、通常の起立状態では、一方の駆動モーター63が、モーターアーム64によって牽引ベルト65を巻き取り、第一の移動滑車62を第一の固定滑車61から離隔した状態で保持する。これにより、各揺動アーム56は、図9(a)に示すように、内側連結ワイヤ57によって互いに近接する方向に引っ張られ、ストッパー55に当接した状態で保持される。
First, in the quadruped wheelchair 1B of the second embodiment mounted on a quadruped, in a normal standing state, one drive motor 63 winds up the traction belt 65 by the motor arm 64, and the first The moving pulley 62 is held in a state of being separated from the first fixed pulley 61. As a result, as shown in FIG. 9A, each swing arm 56 is pulled in a direction close to each other by the inner connecting wire 57, and is held in contact with the stopper 55.
このとき、本第2実施形態では、各揺動アーム56の内側面に設けられたバネ付きロックピン82が、車輪支持部材3の貫通孔81を挿通されつつ、リングフレーム2の係止穴83に挿入される。これにより、各車輪支持部材3はリングフレーム2に対するスライド移動が規制され、通常の起立状態でロックされる。このため、四足動物が左右方向にカーブしながら歩行する際も、前肢または後肢が外方向に振れにくくなるため、重心の高い長足体型の四足動物が装着した場合でも転倒が防止される。また、バネ付きロックピン82は、バネの弾性力によってリングフレーム2に対して過度に押し付けられることがない。
At this time, in the second embodiment, the spring-loaded lock pin 82 provided on the inner surface of each swing arm 56 is inserted through the through hole 81 of the wheel support member 3, and the locking hole 83 of the ring frame 2 is inserted. Will be inserted into. As a result, each wheel support member 3 is restricted from sliding with respect to the ring frame 2, and is locked in a normal standing state. For this reason, even when the quadruped is walking while curving in the left-right direction, the forelimbs or hind limbs are less likely to swing outward, so that even when the quadruped with a high center of gravity is worn, the fall is prevented. Further, the spring-loaded lock pin 82 is not excessively pressed against the ring frame 2 by the elastic force of the spring.
つぎに、転倒センサーが四足動物の横臥位状態を検知すると、一方の駆動モーター63が空転可能な状態となるとともに、他方の駆動モーター63がモーターアーム64によって牽引ベルト65を巻き取り、第二の移動滑車62を第二の固定滑車61から離隔する方向に引っ張る。そして、第二の移動滑車62が最も離れた位置に到達すると他方の駆動モーター63が停止する。
Next, when the fall sensor detects the recumbent state of the quadruped, one drive motor 63 is in a state where it can idle, and the other drive motor 63 winds up the traction belt 65 by the motor arm 64. Pulls the moving pulley 62 in a direction away from the second fixed pulley 61. Then, when the second moving pulley 62 reaches the farthest position, the other drive motor 63 stops.
これにより、当初は図9(b)に示すように、地面側の揺動アーム56が四足動物の自重によって移動が規制され、地面に接触していない方の揺動アーム56だけが、外側連結ワイヤ58によって外側に引っ張られて揺動する。このとき、揺動された揺動アーム56のバネ付きロックピン82が、リングフレーム2の係止穴83および車輪支持部材3の貫通孔81から引き抜かれるため、当該車輪支持部材3のロックが解除される。
As a result, as shown in FIG. 9B, the movement of the swing arm 56 on the ground side is restricted by the weight of the quadruped, and only the swing arm 56 that is not in contact with the ground is outside. It is pulled outward by the connecting wire 58 and swings. At this time, the spring-loaded lock pin 82 of the swinging arm 56 is pulled out from the locking hole 83 of the ring frame 2 and the through hole 81 of the wheel support member 3, so that the wheel support member 3 is unlocked. Will be done.
その後、図9(c)に示すように、揺動アーム56が逆サイドのストッパー55に当接したところで車輪支持部材3ごと引っ張られ、または揺動アーム56と車輪支持部材3の双方が外側連結ワイヤ58によって引っ張られ、リングフレーム2に沿って時計回りに回転する。そして、図9(d)に示すように、移動された揺動アーム56の車輪4が地面に接触し負荷がかかったところで、両方の揺動アーム56が互いに近接する方向に引っ張られる。これにより、地面側の揺動アーム56のバネ付きロックピン82が、リングフレーム2の係止穴83および車輪支持部材3の貫通孔81から引き抜かれるため、当該車輪支持部材3のロックも解除される。
After that, as shown in FIG. 9C, when the swing arm 56 comes into contact with the stopper 55 on the opposite side, the wheel support member 3 is pulled together, or both the swing arm 56 and the wheel support member 3 are connected to the outside. It is pulled by the wire 58 and rotates clockwise along the ring frame 2. Then, as shown in FIG. 9D, when the wheels 4 of the moved swing arm 56 come into contact with the ground and a load is applied, both swing arms 56 are pulled in directions close to each other. As a result, the spring-loaded lock pin 82 of the swing arm 56 on the ground side is pulled out from the locking hole 83 of the ring frame 2 and the through hole 81 of the wheel support member 3, so that the wheel support member 3 is also unlocked. To.
このため、健常肢である前肢を使って起立状態となるように前半身を捻ると、内側連結ワイヤ57によって内方に引っ張られている各車輪支持部材3に対して、後半身に装着されたリングフレーム2がスムーズに回転する。これにより、前半身の捻り動作に追従して後半身も追従するため、四足動物の体勢が通常の起立状態の体勢となる。
Therefore, when the front half of the body is twisted so as to stand up using the forelimbs, which are healthy limbs, the front half of the body is attached to each wheel support member 3 pulled inward by the inner connecting wire 57. The ring frame 2 rotates smoothly. As a result, the posture of the quadruped is changed to the normal standing posture because the latter half of the body follows the twisting motion of the first half of the body.
また、このとき、本第2実施形態では、上述した第1実施形態と同様、転倒センサーによって四足動物の横臥位状態が検知されると、弾性力調節機構75が連結フレーム7の弾性力を低減させる。このため、リングフレーム2が、健常肢側に装着されたホルダ6と連結されていても、横臥位状態における健常肢が動き易くなるため、自力で立ち上がり易くなっている。
At this time, in the second embodiment, as in the first embodiment described above, when the recumbent state of the quadruped is detected by the fall sensor, the elastic force adjusting mechanism 75 applies the elastic force of the connecting frame 7. Reduce. Therefore, even if the ring frame 2 is connected to the holder 6 mounted on the healthy limb side, the healthy limb in the lying position is easy to move, so that it is easy to stand up by itself.
その後、図9(e)に示すように、四足動物の後半身がリングフレーム2とともに徐々に持ち上げられると、図9(f)に示すように、各揺動アーム56がストッパー55に当接した状態で保持される。これにより、各揺動アーム56の車輪4が通常の起立状態における位置へと復帰するとともに、四足動物が自力で立ち上がり正常な起立状態となる。
After that, as shown in FIG. 9 (e), when the latter half of the quadruped is gradually lifted together with the ring frame 2, each swing arm 56 abuts on the stopper 55 as shown in FIG. 9 (f). It is held in the same state. As a result, the wheels 4 of each swing arm 56 return to the position in the normal standing state, and the quadrupeds stand up by themselves and enter the normal standing state.
このとき、各揺動アーム56の内側面(揺動前は外側面)に設けられたバネ付きロックピン82が、車輪支持部材3の貫通孔81を挿通されつつ、リングフレーム2の係止穴83に挿入される。これにより、各車輪支持部材3はリングフレーム2に対するスライド移動が規制され、通常の起立状態でロックされる。
At this time, the spring-loaded lock pin 82 provided on the inner surface (outer surface before swinging) of each swing arm 56 is inserted into the through hole 81 of the wheel support member 3, and the locking hole of the ring frame 2 is inserted. It is inserted in 83. As a result, each wheel support member 3 is restricted from sliding with respect to the ring frame 2, and is locked in a normal standing state.
また、本第2実施形態では、上述した車輪4の変位動作において、揺動アーム56の牽引に大きなトルクを要しない前半の工程(図9(b)~図9(d))では、各駆動モーター63が、モーターアーム64によって牽引ベルト65を巻き取ることにより、揺動アーム56を素早く揺動および移動させる。一方、揺動アーム56の牽引に大きなトルクを要する後半の工程(図9(d)~図9(f))では、各駆動モーター63が、モーターアーム64の基端部によって牽引ベルト65を巻き取ることにより、ゆっくりと高トルクで揺動アーム56を揺動させる。このように車輪4の変位動作の各段階に応じて牽引ベルト65の巻き取り速度とトルクとを適切に調整している。
Further, in the second embodiment, in the displacement operation of the wheel 4 described above, in the first half steps (FIGS. 9 (b) to 9 (d)) in which a large torque is not required to pull the swing arm 56, each drive is performed. The motor 63 winds the traction belt 65 by the motor arm 64, so that the swing arm 56 is swiftly swung and moved. On the other hand, in the latter half of the process (FIGS. 9 (d) to 9 (f)) in which a large torque is required to pull the swing arm 56, each drive motor 63 winds the tow belt 65 by the base end portion of the motor arm 64. By taking it, the swing arm 56 is slowly swung with high torque. In this way, the winding speed and torque of the tow belt 65 are appropriately adjusted according to each stage of the displacement operation of the wheel 4.
以上のような本発明に係る四足動物用車椅子の第2実施形態によれば、上述した第1実施形態の効果に加えて、以下のような効果を奏する。
1.一対の車輪4,4のみで横臥位状態から起立状態への変位を実現することができる。
2.シンプルな構成でありながら、内側連結ワイヤ57の張力を緩めるとともに、外側連結ワイヤ58の両端部を引っ張ることができる。
3.四足動物が左右方向にカーブしながら歩行する際の前肢または後肢の外振れによる転倒を防止することができる。
4.リングフレーム2と各車輪4との間隔を長くできるため、ハウンド犬のように、重心の高い長足体型の四足動物に好適である。 According to the second embodiment of the wheelchair for quadrupeds according to the present invention as described above, in addition to the effects of the first embodiment described above, the following effects are obtained.
1. 1. The displacement from the lying position to the standing state can be realized only by the pair of wheels 4 and 4.
2. 2. Although it has a simple structure, it is possible to relax the tension of the inner connectingwire 57 and pull both ends of the outer connecting wire 58.
3. 3. It is possible to prevent a quadruped from falling due to outward swing of the forelimb or hindlimb when walking while curving in the left-right direction.
4. Since the distance between thering frame 2 and each wheel 4 can be lengthened, it is suitable for long-legged quadrupeds having a high center of gravity, such as hound dogs.
1.一対の車輪4,4のみで横臥位状態から起立状態への変位を実現することができる。
2.シンプルな構成でありながら、内側連結ワイヤ57の張力を緩めるとともに、外側連結ワイヤ58の両端部を引っ張ることができる。
3.四足動物が左右方向にカーブしながら歩行する際の前肢または後肢の外振れによる転倒を防止することができる。
4.リングフレーム2と各車輪4との間隔を長くできるため、ハウンド犬のように、重心の高い長足体型の四足動物に好適である。 According to the second embodiment of the wheelchair for quadrupeds according to the present invention as described above, in addition to the effects of the first embodiment described above, the following effects are obtained.
1. 1. The displacement from the lying position to the standing state can be realized only by the pair of
2. 2. Although it has a simple structure, it is possible to relax the tension of the inner connecting
3. 3. It is possible to prevent a quadruped from falling due to outward swing of the forelimb or hindlimb when walking while curving in the left-right direction.
4. Since the distance between the
つぎに、本発明に係る四足動物用車椅子の第3実施形態について説明する。なお、本第3実施形態の構成のうち、上述した各実施形態と同一もしくは相当する構成については同一の符号を付し、再度の説明を省略する。
Next, a third embodiment of the wheelchair for quadrupeds according to the present invention will be described. Of the configurations of the third embodiment, the same or equivalent configurations as those of the above-described embodiments are designated by the same reference numerals, and the description thereof will be omitted again.
上述した第1実施形態および第2実施形態では、後肢用の四足動物用車椅子1A,1Bについて説明したが、本第3実施形態の四足動物用車椅子1Cの特徴は、第2実施形態の四足動物用車椅子1Bを前肢用に構成した点にある。
In the first and second embodiments described above, the quadruped wheelchairs 1A and 1B for the hind limbs have been described, but the feature of the quadruped wheelchair 1C of the third embodiment is that of the second embodiment. The point is that the wheelchair 1B for quadrupeds is configured for the forelimbs.
具体的には、図10に示すように、四足動物の前半身に装着されるホルダ6の後端部にリングフレーム2が設けられている。また、このリングフレーム2と、四足動物の後半身に装着されるサドル8とが、連結フレーム7によって連結されている。
Specifically, as shown in FIG. 10, a ring frame 2 is provided at the rear end of the holder 6 attached to the front half of the quadruped. Further, the ring frame 2 and the saddle 8 attached to the latter half of the quadruped are connected by a connecting frame 7.
この構成により、四足動物が転倒等によって横臥位状態になった場合でも、前肢側において上述した第2実施形態と同様の動作が行われ、自力で立ち上がることができる。
With this configuration, even if the quadruped is in a lying position due to a fall or the like, the same operation as in the second embodiment described above is performed on the forelimb side, and the quadruped can stand up by itself.
なお、本発明に係る四足動物用車椅子は、前述した各実施形態に限定されるものではなく、適宜変更することができる。
The wheelchair for quadrupeds according to the present invention is not limited to each of the above-described embodiments, and can be appropriately changed.
例えば、上述した各実施形態では、四足動物に対する四足動物用車椅子の着脱を容易にするため、リングフレーム2を分割可能に構成しているが、四足動物が容易に着脱しうるのであれば分割されていなくてもよい。また、内側連結ワイヤ57と外側連結ワイヤ58も同様に、分割可能に構成されているが、分割されていなくてもよい。
For example, in each of the above-described embodiments, the ring frame 2 is configured to be separable in order to facilitate the attachment / detachment of the quadruped wheelchair to the quadruped, but the quadruped can be easily attached / detached. It does not have to be divided. Further, the inner connecting wire 57 and the outer connecting wire 58 are similarly configured to be separable, but may not be divided.
また、上述した各実施形態では、健常肢側にホルダ6やサドル8を装着し、連結フレーム7を用いてリングフレーム2と連結しているが、この構成に限定されるものではない。すなわち、障害肢側にしっかりと装着しうるリングフレーム2であれば、ホルダ6やサドル8および連結フレーム7を設ける必要はない。
Further, in each of the above-described embodiments, the holder 6 and the saddle 8 are attached to the healthy limb side and are connected to the ring frame 2 by using the connecting frame 7, but the configuration is not limited to this. That is, if the ring frame 2 can be firmly attached to the disabled limb side, it is not necessary to provide the holder 6, the saddle 8, and the connecting frame 7.
さらに、上述した第1実施形態では、障害肢側胴体である後半身を保持するサドル8を有しているが、この構成に限定されるものではなく、四足動物の体型によっては省略することができる。具体的には、図11に示すように、クッション材と障害肢カバー9とを一体化した一体化カバー12で四足動物の後半身を包み込み、当該一体化カバー12の外周面にリングフレーム2を固定するようにしてもよい。
Further, in the above-described first embodiment, the saddle 8 that holds the latter half of the body, which is the body on the side of the disabled limb, is provided, but the saddle 8 is not limited to this configuration, and may be omitted depending on the body shape of the quadruped. Can be done. Specifically, as shown in FIG. 11, the latter half of the quadruped is wrapped with the integrated cover 12 in which the cushion material and the disabled limb cover 9 are integrated, and the ring frame 2 is placed on the outer peripheral surface of the integrated cover 12. May be fixed.
また、上述した各実施形態では、棒状の連結フレーム7によってホルダ6またはサドル8とリングフレーム2とを連結していたが、この構成に限定されるものではない。すなわち、四足動物に対する左右方向、上下方向および前後方向の回転軸回りに弾性変形可能に構成されているものであれば、板バネ等のスプリング材や、図12に示すように、柔軟な素材で構成された網目状のネット材13で連結してもよい。
Further, in each of the above-described embodiments, the holder 6 or the saddle 8 and the ring frame 2 are connected by a rod-shaped connecting frame 7, but the present invention is not limited to this configuration. That is, a spring material such as a leaf spring or a flexible material as shown in FIG. 12 as long as it is configured to be elastically deformable around the rotation axes in the horizontal, vertical, and front-rear directions with respect to the quadruped. It may be connected by the mesh-like net material 13 composed of.
1A,1B,1C 四足動物用車椅子
2 リングフレーム
3 車輪支持部材
4 車輪
5 車輪変位機構
6 ホルダ
7 連結フレーム
8 サドル
9 障害肢カバー
31 爪
51 支持軸
52 揺動車軸
53 ピニオンギヤ
54 揺動プレート
55 ストッパー
56 揺動アーム
57 内側連結ワイヤ
58 外側連結ワイヤ
59 ワイヤ駆動機構
70a,70b,70c 回転軸
71 前方部材
72 中間部材
73 後方部材
74 コイルスプリング
75 弾性力調節機構
76 調節ワイヤ
77 張力調節モーター
78 固定部材 1A, 1B, 1C Wheelchair forquadrupeds 2 Ring frame 3 Wheel support member 4 Wheel 5 Wheel displacement mechanism 6 Holder 7 Connecting frame 8 Saddle 9 Obstacle limb cover 31 Claw 51 Support shaft 52 Swing axle 53 Pinion gear 54 Swing plate 55 Stopper 56 Swing arm 57 Inner connecting wire 58 Outer connecting wire 59 Wire drive mechanism 70a, 70b, 70c Rotating shaft 71 Front member 72 Intermediate member 73 Rear member 74 Coil spring 75 Elastic force adjustment mechanism 76 Adjustment wire 77 Tension adjustment motor 78 Fixed Element
2 リングフレーム
3 車輪支持部材
4 車輪
5 車輪変位機構
6 ホルダ
7 連結フレーム
8 サドル
9 障害肢カバー
31 爪
51 支持軸
52 揺動車軸
53 ピニオンギヤ
54 揺動プレート
55 ストッパー
56 揺動アーム
57 内側連結ワイヤ
58 外側連結ワイヤ
59 ワイヤ駆動機構
70a,70b,70c 回転軸
71 前方部材
72 中間部材
73 後方部材
74 コイルスプリング
75 弾性力調節機構
76 調節ワイヤ
77 張力調節モーター
78 固定部材 1A, 1B, 1C Wheelchair for
Claims (6)
- 四足動物に用いられる四足動物用車椅子であって、
前記四足動物の障害肢側胴体に装着されるリングフレームと、
前記リングフレームの外周に沿ってスライド可能に設けられ、車輪を回転可能に支持する複数の車輪支持部材と、
前記四足動物が起立状態から横臥位状態になったとき、複数の前記車輪を前記起立状態における位置に変位させる車輪変位機構と、
を有する、四足動物用車椅子。 A wheelchair for quadrupeds used for quadrupeds
A ring frame attached to the torso on the disabled limb side of the quadruped,
A plurality of wheel support members slidably provided along the outer circumference of the ring frame to rotatably support the wheels,
A wheel displacement mechanism that displaces a plurality of the wheels to the positions in the standing state when the quadruped is changed from the standing state to the lying position.
Wheelchair for quadrupeds. - 前記車輪変位機構は、
前記車輪支持部材に設けられ、前記リングフレームの軸線方向と平行な軸線を有する支持軸と、
前記支持軸回りに基端部が揺動可能に支持されるとともに、先端部に前記車輪を回動可能に支持する揺動車軸と、
前記揺動車軸に固定されるピニオンギヤと、
前記支持軸回りに揺動可能に支持され、前記ピニオンギヤと噛み合う歯溝を有する揺動プレートと、
前記揺動車軸および前記揺動プレートの揺動範囲を所定の角度範囲内に規制するストッパーと、
を有する、請求項1に記載の四足動物用車椅子。 The wheel displacement mechanism
A support shaft provided on the wheel support member and having an axis parallel to the axis direction of the ring frame,
An oscillating axle that rotatably supports the base end portion around the support shaft and rotatably supports the wheel at the tip end portion.
The pinion gear fixed to the swing axle and
A swing plate that is swingably supported around the support shaft and has a tooth groove that meshes with the pinion gear.
A stopper that regulates the swing range of the swing axle and the swing plate within a predetermined angle range,
The quadrupedal wheelchair according to claim 1. - 前記車輪変位機構は、
前記車輪支持部材に設けられ、前記リングフレームの軸線方向と平行な軸線を有する支持軸と、
前記支持軸回りに基端部が揺動可能に支持されるとともに、先端部に前記車輪を回動可能に支持する一対の揺動アームと、
前記各揺動アームの揺動範囲を所定の角度範囲内に規制するストッパーと、
前記各揺動アームの内側同士を連結する内側連結ワイヤと、
前記各揺動アームの外側同士を連結する外側連結ワイヤと、
前記四足動物が起立状態から横臥位状態になったことを検知する転倒センサーと、
前記転倒センサーが前記四足動物の横臥位状態を検知したとき、前記内側連結ワイヤの張力を緩めるとともに、前記外側連結ワイヤの両端部を引っ張るワイヤ駆動機構と、
を有する、請求項1に記載の四足動物用車椅子。 The wheel displacement mechanism
A support shaft provided on the wheel support member and having an axis parallel to the axis direction of the ring frame,
A pair of swinging arms that rotatably support the base end portion around the support shaft and rotatably support the wheel at the tip end portion.
A stopper that regulates the swing range of each swing arm within a predetermined angle range, and
An inner connecting wire that connects the inner sides of each swing arm and
An outer connecting wire that connects the outer sides of each swing arm and
A fall sensor that detects when the quadruped has changed from standing to lying down,
When the tipping sensor detects the recumbent state of the quadruped, the wire drive mechanism that relaxes the tension of the inner connecting wire and pulls both ends of the outer connecting wire.
The quadrupedal wheelchair according to claim 1. - 前記ワイヤ駆動機構は、所定の間隔を隔てて設けられた二つの固定滑車と、前記固定滑車のそれぞれに対して往復動可能に設けられた一対の移動滑車と、前記移動滑車を往復動させる駆動モーターとを有し、
前記内側連結ワイヤは、前記一対の移動滑車のうち第一の移動滑車と第一の固定滑車とに巻回されるとともに、その両端が前記揺動アームの内側に連結されており、前記外側連結ワイヤは、第二の移動滑車と第二の固定滑車に巻回されるとともに、その両端が前記リングフレームに巻回されつつ前記揺動アームの外側に連結されている、請求項3に記載の四足動物用車椅子。 The wire drive mechanism includes two fixed pulleys provided at predetermined intervals, a pair of moving pulleys reciprocating with respect to each of the fixed pulleys, and a drive for reciprocating the moving pulleys. Has a motor and
The inner connecting wire is wound around the first moving pulley and the first fixed pulley of the pair of moving pulleys, and both ends thereof are connected to the inside of the swing arm, and the outer connecting wire is connected. The third aspect of claim 3, wherein the wire is wound around a second moving pulley and a second fixed pulley, and both ends thereof are wound around the ring frame and connected to the outside of the swing arm. Wheelchair for quadrupeds. - 前記四足動物が起立状態のとき、前記車輪支持部材のそれぞれを前記リングフレームの所定位置にロックするとともに、前記ワイヤ駆動機構が前記揺動アームを揺動させている間、前記ロックを解除するロック機構を有している、請求項3または請求項4に記載の四足動物用車椅子。 When the quadruped is in an upright position, each of the wheel support members is locked at a predetermined position on the ring frame, and the lock is released while the wire drive mechanism swings the swing arm. The quadrupedal wheelchair according to claim 3 or 4, which has a locking mechanism.
- 前記四足動物の健常肢側胴体に装着されるホルダまたはサドルと、前記ホルダまたはサドルと前記リングフレームとを連結する連結フレームと、前記四足動物が起立状態から横臥位状態になったことを検知する転倒センサーと、を有しており、
前記連結フレームは、前記四足動物に対する左右方向、上下方向および前後方向の回転軸回りに弾性変形可能に構成されており、
前記転倒センサーが前記四足動物の横臥位状態を検知したとき、前記連結フレームの弾性力を低減させる弾性力調節機構を有している、請求項1から請求項5のいずれかに記載の四足動物用車椅子。 The holder or saddle attached to the healthy limb side torso of the quadruped, the connecting frame connecting the holder or saddle and the ring frame, and the quadruped from the upright position to the lying position. It has a fall sensor to detect,
The connecting frame is configured to be elastically deformable around the rotation axes in the left-right direction, the up-down direction, and the front-back direction with respect to the quadruped.
4. According to any one of claims 1 to 5, the fall sensor has an elastic force adjusting mechanism that reduces the elastic force of the connecting frame when the quadruped is in a lying position. Wheelchair for foot animals.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP20850415.9A EP3970482B1 (en) | 2019-08-05 | 2020-08-01 | Four-legged animal wheelchair |
JP2020565998A JP6832605B1 (en) | 2019-08-05 | 2020-08-01 | Wheelchair for quadrupeds |
US17/571,442 US11951068B2 (en) | 2019-08-05 | 2022-01-07 | Four-legged animal wheelchair |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019143476 | 2019-08-05 | ||
JP2019-143476 | 2019-08-05 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US17/571,442 Continuation US11951068B2 (en) | 2019-08-05 | 2022-01-07 | Four-legged animal wheelchair |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2021024967A1 true WO2021024967A1 (en) | 2021-02-11 |
Family
ID=74502643
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2020/029594 WO2021024967A1 (en) | 2019-08-05 | 2020-08-01 | Four-legged animal wheelchair |
Country Status (4)
Country | Link |
---|---|
US (1) | US11951068B2 (en) |
EP (1) | EP3970482B1 (en) |
JP (1) | JP6832605B1 (en) |
WO (1) | WO2021024967A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11547091B1 (en) * | 2021-07-16 | 2023-01-10 | Thomas C. Cook | Animal mobility device |
JP7300787B1 (en) * | 2022-06-20 | 2023-06-30 | 株式会社サンテクノス | quadruped veterinary wheelchair |
WO2024018940A1 (en) * | 2022-07-22 | 2024-01-25 | 洋明 是枝 | Wheelchair for four-legged animal |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
USD987917S1 (en) * | 2021-08-22 | 2023-05-30 | Nengfei Li | Adjustable pet wheelchair |
USD987918S1 (en) * | 2021-08-23 | 2023-05-30 | Nengfei Li | Adjustable pet wheelchair |
USD987921S1 (en) * | 2021-10-19 | 2023-05-30 | Nengfei Li | Adjustable pet wheelchair |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3878609B2 (en) * | 2004-02-20 | 2007-02-07 | 株式会社有薗製作所 | Pet wheelchair |
JP4244233B2 (en) * | 2006-08-01 | 2009-03-25 | 延行 島岡 | Pet wheelchair |
JP5385584B2 (en) * | 2007-10-18 | 2014-01-08 | ウィールズ フォア ペッツ エルエルシー | Pet adjustable wheelchair |
JP5460916B1 (en) * | 2013-10-04 | 2014-04-02 | 康彰 大島 | Quadruped wheelchair |
EP3130224A1 (en) * | 2015-08-10 | 2017-02-15 | Amil S.r.l. | Trolley to assist animals in walking |
US20190209417A1 (en) * | 2018-01-05 | 2019-07-11 | Hui Chu Laicheng | Walking aid for pets with limb injury |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB9116481D0 (en) * | 1991-07-30 | 1991-09-11 | Hill Richard W | Improvements in or relating to walking aids for animals |
US6820572B1 (en) * | 2003-05-23 | 2004-11-23 | Lincoln J. Parkes | Mobile prosthetic apparatus for disabled four-legged animals |
DE10343357B4 (en) * | 2003-09-12 | 2017-04-06 | Thorsten Kiefer | Device for relieving and stabilizing four-legged carcasses |
WO2012007935A2 (en) * | 2010-07-11 | 2012-01-19 | Nekuda D.M. Technologies And Design Ltd. | Walking aid for disabled four-legged animals |
KR20180110525A (en) * | 2017-03-29 | 2018-10-10 | 이신호 | Walking assist device for pets |
-
2020
- 2020-08-01 EP EP20850415.9A patent/EP3970482B1/en active Active
- 2020-08-01 WO PCT/JP2020/029594 patent/WO2021024967A1/en unknown
- 2020-08-01 JP JP2020565998A patent/JP6832605B1/en active Active
-
2022
- 2022-01-07 US US17/571,442 patent/US11951068B2/en active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3878609B2 (en) * | 2004-02-20 | 2007-02-07 | 株式会社有薗製作所 | Pet wheelchair |
JP4244233B2 (en) * | 2006-08-01 | 2009-03-25 | 延行 島岡 | Pet wheelchair |
JP5385584B2 (en) * | 2007-10-18 | 2014-01-08 | ウィールズ フォア ペッツ エルエルシー | Pet adjustable wheelchair |
JP5460916B1 (en) * | 2013-10-04 | 2014-04-02 | 康彰 大島 | Quadruped wheelchair |
JP2015070816A (en) | 2013-10-04 | 2015-04-16 | 康彰 大島 | Wheelchair for four-legged animal |
EP3130224A1 (en) * | 2015-08-10 | 2017-02-15 | Amil S.r.l. | Trolley to assist animals in walking |
US20190209417A1 (en) * | 2018-01-05 | 2019-07-11 | Hui Chu Laicheng | Walking aid for pets with limb injury |
Non-Patent Citations (1)
Title |
---|
See also references of EP3970482A4 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11547091B1 (en) * | 2021-07-16 | 2023-01-10 | Thomas C. Cook | Animal mobility device |
JP7300787B1 (en) * | 2022-06-20 | 2023-06-30 | 株式会社サンテクノス | quadruped veterinary wheelchair |
WO2023248269A1 (en) * | 2022-06-20 | 2023-12-28 | 株式会社サンテクノス | Four-legged animal wheelchair |
WO2024018940A1 (en) * | 2022-07-22 | 2024-01-25 | 洋明 是枝 | Wheelchair for four-legged animal |
JP7492305B1 (en) | 2022-07-22 | 2024-05-29 | 洋明 是枝 | Quadrupedal wheelchair |
Also Published As
Publication number | Publication date |
---|---|
JPWO2021024967A1 (en) | 2021-09-13 |
EP3970482A1 (en) | 2022-03-23 |
US20220125664A1 (en) | 2022-04-28 |
JP6832605B1 (en) | 2021-02-24 |
EP3970482B1 (en) | 2023-07-26 |
US11951068B2 (en) | 2024-04-09 |
EP3970482A4 (en) | 2022-07-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2021024967A1 (en) | Four-legged animal wheelchair | |
US9179646B2 (en) | Walking aid for disabled four-legged animals | |
US9044369B2 (en) | Mobile manual standing wheelchair | |
JP5460916B1 (en) | Quadruped wheelchair | |
US10383456B1 (en) | Baby walker training device | |
CN212825381U (en) | Upper limb exoskeleton for upper limb lifting operation | |
JP4979834B1 (en) | Dog walking aid | |
JP2008011989A (en) | Wheelchair | |
WO2011001140A1 (en) | Hand operated feeder | |
US20020086609A1 (en) | Toy action figures with manipulating stem and selectably articulatable joints | |
JPH11342226A (en) | Traction training machine with loading mechanism | |
US20220106011A1 (en) | Hybrid pump-action vehicle and therapy device | |
JP5511349B2 (en) | Quadruped animal care harness and walking aid suitable for it | |
JP6343742B1 (en) | Multipurpose belt for assistance | |
JP4711034B2 (en) | Functional recovery training device | |
CN107323586B (en) | A kind of double drive health care tricycle | |
JP3931095B2 (en) | Pet carrying harness | |
JPS6230771B2 (en) | ||
JP3160614U (en) | Children's tricycle | |
KR101209830B1 (en) | Walking supporter | |
JP4509642B2 (en) | Pet wheelchair | |
CN101371809A (en) | Walking aid wheelchair cart for pet with disabled back trunk | |
CN213697396U (en) | Fracture traction device | |
JP3193064U (en) | Rehabilitation leg rowing equipment | |
JP2018114075A (en) | wheelchair |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 2020565998 Country of ref document: JP Kind code of ref document: A |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 20850415 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2020850415 Country of ref document: EP Effective date: 20211213 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |